Laser scan wont update although decay time set to zero- gmapping

asked 2015-01-28 07:12:49 -0500

AlexR
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Hi,

I am having this issue when playing the bag file dropbox link. I recorded this bag file with /scan and /tf on a p3dx which has a UHG-08lx laser sensor. The gmapping works fine. But the laser scans wont update and accumulate into the map, although the decay time is set to zero. This problem is for every bag file that I record. See attached screenshot

Can someone suggest as to why this is happening and how can I resolve it.

Thanks

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answered 2015-01-28 11:48:35 -0500

AlexR
654 ●18 ●26 ●38

ok i figured out the problem. I was not playing the bag file with the clock running. I was only playing using $r rosbag play bagfile.bag , when inserting the --clock topic in the end the scans are updating nicely. Thanks for looking into the problem.

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answered 2015-01-28 09:35:43 -0500

dornhege

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Decay time of 0 in rviz means to not accumulate.

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Hi, as you can see from the screenshot the decay time is set to 0. But the scans are still accumulating. I dont see the reason. Thanks

AlexR ( 2015-01-28 10:18:18 -0500 )edit

OK, so the problem is that they do accumulate and you don't want them to? Have you tried just unticking and ticking the display again to reset that? If it still persists to accumulate after that it looks like a bug.

dornhege ( 2015-01-28 10:31:04 -0500 )edit

I have tried unticking and ticking. This happens only when I am playing the bag file with gmapping, with hector mapping the scan runs fine.

AlexR ( 2015-01-28 11:15:25 -0500 )edit

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Laser scan wont update although decay time set to zero- gmapping

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